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How do you modify the velocity multiplexer for turtlebot?

asked 2016-09-14 13:11:14 -0600

piraka9011 gravatar image

updated 2016-09-15 07:48:56 -0600

I have a Kobuki Turtlebot and would like to publish to the multiplexer on my own topic. The official documentation hasn't done me well explaining how to modify the parameters.

Where can I find the config and YAML files discussed in the documentation and how can I edit them? I am currently writing a rospy script for this, below is a simple implementation of what I'm trying to do.

#!/usr/bin/env python

import rospy
from geometry_msgs.msg import Twist

if __name__ == '__main__':
    rospy.init_node('CmdVelMux_test', anonymous=True);
    velPub = rospy.Publisher('/cmd_vel_mux/input/BSC', Twist, queue_size=10);
    Vx = Twist();
    Vx.linear.x = 0.1;
    while not rospy.is_shutdown():
        velPub.publish(Vx);
        rospy.spin;
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answered 2016-09-15 00:41:03 -0600

alienmon gravatar image

Quoted from the page you gave "Since Hydro the package is renamed to yocs_cmd_vel_mux".

The yaml file is inside yocs_cmd_vel_mux package. which is e.g. /opt/ros/indigo/share/yocs_cmd_vel_mux/param

To get there:

roscd
cd share
cd yocs_cmd_vel_mux
cd param

There you go: example.yaml reconfigure.yaml The files that are described in the official doc that you mentioned

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Comments

I have literally read the entire page three times and that small sentence never popped up to me. Makes me feel...unscholarly :P thanks for pointing that out!

piraka9011 gravatar imagepiraka9011 ( 2016-09-15 07:47:53 -0600 )edit

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Asked: 2016-09-14 13:11:14 -0600

Seen: 105 times

Last updated: Sep 15 '16